The disclosure relates to method and system for localizing an autonomous ground vehicle (AGV). In an example, the method includes receiving a line drawing corresponding to a two-dimensional (2D) camera scene captured by a camera mounted on the AGV, determining a plurality of ground-touching corner edges based on a plurality of horizontal edges and a plurality of vertical edges in the line drawing, determining a plurality of three-dimensional (3D) points corresponding to a plurality of 2D points in each of the plurality of ground-touching corner edges based on a mapping relationship between an angular orientation of a ground touching edge of an object in real-world and in camera scene and a set of intrinsic parameters of the camera, generating 2D occupancy data by plotting the plurality of 3D points in a 2D plane, and determining a location of the AGV based on the 2D occupancy data and the mapping relationship.
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5. The method of claim 1, wherein the mapping relationship is derived by calibrating at a periodic interval or based on a user evaluation in a factory environment or in a workshop environment.
6. The method of claim 1, wherein determining the plurality of 3D points comprises determining a depth of each of the plurality of 2D points in each of the plurality of ground-touching corner edges based on the mapping relationship and the set of intrinsic parameters of the camera.
7. The method of claim 1, wherein determining the location of the AGV comprises applying a particle filter localization algorithm.
12. The system of claim 8, wherein the mapping relationship is derived by calibrating at a periodic interval or based on a user evaluation.
13. The system of claim 8, wherein the processor determines the plurality of 3D points by determining a depth of each of the plurality of 2D points in each of the plurality of ground-touching corner edges based on the mapping relationship and the set of intrinsic parameters of the camera.
14. The system of claim 8, wherein the processor determines the location of the AGV by applying a particle filter localization algorithm.
19. The non-transitory computer-readable medium of claim 15, wherein determining the plurality of 3D points comprises determining a depth of each of the plurality of 2D points in each of the plurality of ground-touching corner edges based on the mapping relationship and the set of intrinsic parameters of the camera.
20. The non-transitory computer-readable medium of claim 15, wherein determining the location of the AGV comprises applying a particle filter localization algorithm.
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July 20, 2020
November 1, 2022
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